diff --git a/ur_description/package.xml b/ur_description/package.xml
index ac2450dd0bcc7bf2f585c348c621c3da69cf9cdb..f5af9a9a457be4b37a6500b1b4b56bf30f817a8d 100644
--- a/ur_description/package.xml
+++ b/ur_description/package.xml
@@ -19,6 +19,9 @@
   <url type="website">http://ros.org/wiki/ur_description</url>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>rviz</run_depend>
   <run_depend>urdf</run_depend>
   <run_depend>xacro</run_depend>
 
diff --git a/ur_e_description/package.xml b/ur_e_description/package.xml
index aff5f9fd32a6eddcc2765431e68cbf0408697982..78daff8884e721cd32e19ca79b9c8c774843c992 100644
--- a/ur_e_description/package.xml
+++ b/ur_e_description/package.xml
@@ -19,6 +19,9 @@
   <url type="website">http://ros.org/wiki/ur_e_description</url>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>rviz</run_depend>
   <run_depend>urdf</run_depend>
   <run_depend>xacro</run_depend>